Concrete casting amount calculation support device, concrete casting amount calculation support method, and program

Abstract

To support calculation of a casting amount of concrete needed for an uncast range in a concrete casting area.SOLUTION: A concrete casting amount calculation support device comprises: self-position estimation means of imaging means for creating a virtual space using, as an original point, a position at the start of the imaging means by a sensor group that measures a captured image and a position, an orientation, and an attitude of the imaging means and a depth sensor that detects a distance to an object in the captured image; reference plane generation means for generating a height reference plane of a three-dimensional CG image at a height position in the virtual space corresponding to a predetermined position on the captured image; and volume acquisition means for acquiring a volume of a concrete uncast range using the height reference plane as a concrete cast surface. The volume acquisition means includes: a planar information acquisition unit for the uncast range; a depth information acquisition unit for the uncast range specified on the captured image; and a volume calculation unit for the uncast range using planar information and depth information.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a concrete pouring amount calculation support device, a concrete pouring amount calculation support method, and a program that support the calculation of the amount of concrete required to pour an area that remains to be poured during concrete pouring work. [Background technology]

[0002] In concrete pouring work, the quantity of ready-mix concrete ordered is an approximate quantity calculated from blueprints, etc., without detailed measurement, and differs from the actual quantity, which includes the construction error allowed by the ordering specifications. Therefore, the remaining quantity is measured while pouring the concrete to determine the final quantity. When calculating the final quantity (final order amount), if the quantity is insufficient, recalculation and reordering are required, which can lead to delays in the completion of work and economic burdens due to increased overtime work by workers, as well as quality defects due to the long time the reordered concrete is left on site.

[0003] For this reason, the final order is made with a certain amount of margin added to the final calculation results, but if the accuracy of the final calculation is low, a large margin must be added, resulting in a large amount of unnecessary concrete remaining. This entails an environmental burden in the form of an increase in the amount of construction by-products generated, and an economic burden in the form of increased disposal costs for the remaining concrete. If the construction site is close to the ready-mix concrete plant, the remaining quantity can be calculated by measuring once the remaining area has become small, so the measurement can be done by one person. Also, the time required for measurement is short.

[0004] On the other hand, if the distance from the ready-mix concrete plant is far, it takes time to transport the concrete, so it is necessary to carry out the measurement at an early stage of the concrete pouring work, and the measurement range becomes larger. In that case, the measurement needs to be done by multiple people, and the measurement time is also longer. Recently, the number of ready-mix concrete plants has decreased due to the consolidation and closure of the plants, so the transportation time from the plant is generally longer.

[0005] The remaining quantity is calculated by temporarily halting concrete pouring and having one or more construction managers use a tape measure or similar to measure the area and depth of the remaining poured area, then manually calculating using a calculator. The remaining poured area is often irregular in shape, and requires complex calculations, making it prone to calculation errors. Furthermore, trying to shorten the time the work is stopped can also lead to errors. For this reason, there is a demand for technology that can measure the remaining poured amount of concrete more accurately, by one person, in a short amount of time, regardless of the size of the remaining poured area.

[0006] In this situation, devices and systems that detect a pouring space for fresh concrete based on image data and calculate its volume are being developed. For example, Patent Document 1 discloses a device that extracts a frame that forms the pouring space from image data to calculate a provisional volume of the pouring space, calculates an excluded volume that should be excluded as a volume in which concrete can be poured, and calculates the amount of fresh concrete that can be poured into the pouring space based on the provisional volume and the excluded volume. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2018-199950 A Summary of the Invention [Problem to be solved by the invention]

[0008] According to Patent Document 1, by acquiring image data of the frame that forms the concrete pouring space, it is possible to automatically calculate the amount of ready-mixed concrete that can be poured into the frame. However, since the planar range of the pouring space is determined by the presence or absence of the frame, it is not suitable for calculating the volume of the area that remains to be poured during pouring work.

[0009] The present invention has been developed in consideration of such problems, and its main purpose is to easily and accurately obtain the volume of the remaining poured area in a concrete pouring region, and to assist in calculating the amount of concrete needed to pour in the remaining poured area. [Means for solving the problem]

[0010] In order to achieve this object, the concrete pouring amount calculation support device of the present invention comprises: a self-position estimation means for creating a virtual space whose origin is the position at the time of starting the imaging means, based on an image acquired by an imaging means, and measurement results by a sensor group that measures the position, direction and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image, and a reference plane generation means for generating a temporary height reference plane consisting of a three-dimensional CG image at a height position in the virtual space corresponding to a predetermined position on the captured image; a reference plane correction means for correcting the position of the temporary height reference plane based on numerically input correction information, and acquiring a height reference plane; and a reference plane correction means for correcting the position of the temporary height reference plane based on numerically input correction information, based on the height reference plane. A concrete pouring amount calculation support device comprising: a volume acquisition means for treating a reference surface as a planned concrete pour surface in a left-poured area and acquiring the volume of the left-poured area of ​​concrete, wherein the volume acquisition means comprises a plane information acquisition unit for acquiring the outline of the planar shape of the left-poured area specified on the captured image as plane information of the left-poured area; a depth information acquisition unit for calculating the relative distance in the depth direction between a depth measurement point of the left-poured area specified on the captured image and the height reference surface synthesized into the captured image, acquiring depth information of the left-poured area; and a volume calculation unit for calculating the volume of the left-poured area based on the plane information and the depth information.

[0011] The concrete pouring amount calculation support device of the present invention is characterized in that the temporary height reference surface is the top surface of a reinforcing bar arbitrarily defined on the captured image, and the numerically input correction information is the cover thickness.

[0012] The concrete pouring amount calculation support method of the present invention is a concrete pouring amount calculation support method that supports calculation of the amount of concrete to be poured in an unplaced area, and includes a reference surface generation step of generating a temporary height reference surface made of a three-dimensional CG image at a height position corresponding to a predetermined position on the captured image in a virtual space having an origin at a position at the time of starting the imaging means, the virtual space being created based on an image acquired by the imaging means and measurement results from a sensor group that measures the position, direction, and attitude of the imaging means and a depth sensor that detects a distance to an object in the captured image, and a reference surface correction step of correcting the position of the temporary height reference surface based on numerically input correction information to obtain a height reference surface. and a volume acquisition process for treating the height reference surface as a planned concrete cast surface in the left concrete area and acquiring the volume of the left concrete area, wherein the volume acquisition process comprises a plane information acquisition process for acquiring the outline of the planar shape of the left concrete area specified on the captured image as plane information of the left concrete area, a depth information acquisition process for calculating the relative distance in the depth direction between a depth measurement point of the left concrete area specified on the captured image and the height reference surface to be synthesized into the captured image, and acquiring depth information of the left concrete area, and a volume calculation process for calculating the volume of the left concrete area based on the plane information and the depth information.

[0013] The method for supporting calculation of the amount of concrete poured of the present invention is characterized in that the temporary height reference surface is the top surface of a reinforcing bar arbitrarily defined on the captured image, and the numerically input correction information is the cover thickness.

[0014] The program of the present invention is characterized by causing a computer to execute each step of the concrete pouring amount calculation support method of the present invention.

[0015] According to the concrete pouring amount calculation support device, pouring amount calculation support method, and program for executing the method of the present invention, it is possible to specify the contour of the planar shape of the remaining poured area on the image acquired by the imaging means, and also to specify a depth measurement point in the remaining poured area.

[0016] This allows users to virtually experience surveying the remaining pouring area, and easily obtain the volume of the remaining pouring area without the help of other workers, while also reducing the amount of downtime that concrete pouring work at construction sites requires compared to what was previously required.

[0017] In addition, the tasks of specifying the outline of the planar shape of the remaining area and specifying the depth measurement points are simple, and neither the acquisition of planar information nor the acquisition of depth information requires a lot of time. Therefore, by repeating these tasks and increasing the number of depth measurement points, it is possible to easily improve the accuracy of volume calculation.

[0018] As a result, the amount of concrete required to pour the remaining area, calculated as support information using the volume of the remaining area obtained by the pouring amount calculation support device, can be estimated with a small margin when ordering concrete, ensuring high reliability. This contributes to reducing the amount of leftover concrete after construction is completed, and while taking into consideration the impact on the environment, it also makes it possible to significantly reduce disposal costs, etc. Effect of the Invention

[0019] According to the present invention, the volume of the remaining poured area in a concrete pouring region can be obtained easily and accurately, and it is possible to assist in calculating the amount of concrete needed to pour in the remaining poured area. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing an area to be left uncast within a concrete formwork in this embodiment. FIG. [Diagram 2] 1 is a diagram showing a configuration of a pouring amount calculation support device in this embodiment. FIG. [Diagram 3] 13 is a diagram showing a workflow for acquiring the volume of an uncast area in the present embodiment. FIG. [Figure 4]11A to 11C are diagrams illustrating operations for setting a height reference plane in the present embodiment. [Diagram 5] 1A and 1B are diagrams showing a provisional height reference plane and a height reference plane in the present embodiment; [Figure 6] 11 is a diagram showing the position of a temporary height reference plane in the present embodiment. FIG. [Figure 7] 11A to 11C are diagrams illustrating a procedure for acquiring plane information of an uncast range in the present embodiment. [Figure 8] 11A to 11C are diagrams illustrating a procedure for acquiring depth information of an uncast range in the present embodiment. [Figure 9] 13A to 13C are diagrams showing the volume of the remaining area in the present embodiment and the measurement results acquired during the process, which are output on a display screen. [Figure 10] 1 is a diagram showing a concrete pouring amount calculation support system using a pouring amount calculation support device in this embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The present invention obtains the volume of the remaining area, which serves as support information when calculating the amount of concrete to be poured into the remaining area, while virtually experiencing the state of surveying the remaining area on a display screen that displays an image captured by an imaging means.

[0022] The concrete pouring amount calculation support device, pouring amount calculation support method, and program will be described in detail below with reference to Figs. 1 to 10. In this embodiment, a case where a part of a concrete formwork has an uncast area is taken as an example, but the present invention is not limited to this. For example, it is also possible to apply the present invention to an area where no concrete formwork exists, such as a part of a backfill area after drilling a hole in the ground.

[0023] As shown in Fig. 1(a), inside the formwork F, which is the area for pouring concrete, there is existing concrete C that has been poured in advance so as to bury part of the laid reinforcing bar B, and an adjacent area A where concrete should not be poured. The pouring amount calculation support device 10 acquires and displays the volume of the area A where concrete should not be poured that exists inside the formwork F.

[0024] The general procedure for calculating the volume of the left part A is as follows. As shown in FIG. 1(b), a height reference plane R corresponding to the planned concrete cast surface in the left part A is obtained. Next, planar information of the left part A is obtained from the contour Co of the planar shape of the left part A. Furthermore, a depth measurement point P of the left part A is obtained, and depth information of the left part A is obtained from the relative distance L between the obtained depth measurement point and the height reference plane R. The volume of the left part A is calculated based on the planar information and depth information of the left part A obtained in this way.

[0025] <<Concrete pour volume calculation support device>> 2, the pouring amount calculation support device 10 includes at least a display screen 11, an imaging means 12, a storage means 13, a calculation processing device 14, an operation means 15, a communication means 16, and a sensor group 17. The communication means 16 will be described later.

[0026] The display screen 11 is composed of a flat panel display such as a liquid crystal display or an organic electroluminescence display, and displays moving images and still images captured by the imaging means 12, and information stored in the storage means 13. The imaging means 12 is composed of a so-called camera or video, and has a function of capturing moving images, still images, etc., and acquiring imaging data. It is expected that the accuracy will be improved if the imaging means 12 employs a camera that also has a means for acquiring supplementary information other than video, such as moving images and still images with depth information, such as a camera incorporating a ToF (Time of Flight) sensor or a LiDAR (Light Detection and Ranging) scanner.

[0027] The storage means 13 stores, for example, moving images and still images captured by the imaging means 12, and information acquired via the operation means 15. The details will be described later, but it includes at least a reference plane information file 131, a plane information file 132, a depth information file 133, and a volume calculation file 134.

[0028] The operation means 15 includes a keyboard having cursor keys, numeric input keys, and various function keys, a pointing device such as a mouse, and the like, and receives operation signals input by key operations, mouse operations, etc., and outputs them to the storage means 13 and the arithmetic processing unit 14. It is preferable to adopt an integrated configuration of the display screen 11 and the operation means 15, such as a flat panel display with a touch panel.

[0029] The arithmetic processing device 14 includes a CPU, a GPU, a ROM, a RAM, a hardware interface, etc., and executes a predetermined program to realize the functions of a self-position estimation means 145, a reference plane generation means 141, a synthesis processing means 142, a reference plane correction means 143, and a volume acquisition means 144, which will be described later. Also, the functions of a plane information acquisition unit 1441, a depth information acquisition unit 1442, a volume calculation unit 1443, and a result output unit 1444 included in the volume acquisition means 144 are realized.

[0030] The self-position estimation means 145 has a function of recognizing a plane based on an image acquired by the imaging means 12, creating a virtual space with the position of the imaging means 12 at the time of startup as the origin, and a function of grasping the position of the imaging means 12 in the virtual space when the imaging means 12 is moved after that. In addition, the reference plane generation means 141 has a function of generating a height reference plane R made of three-dimensional CG in the virtual space created by the self-position estimation means 145 at a position corresponding to the plane on the image acquired by the imaging means 12.

[0031] 4, the synthesis processing means 142 has a function of synthesizing the captured image captured by the imaging means 12 with a height reference plane made of 3D CG and displaying it on the display screen 11. In addition, the reference plane correction means 143 has a function of correcting the relative position when the captured image and the height reference plane R are synthesized by the synthesis processing means 142.

[0032] The plane information acquisition unit 1441 included in the volume acquisition means 144 has a function of acquiring plane information of the remaining area A as shown in Fig. 7(d) from the contour Co of the planar shape of the remaining area A specified on the captured image displayed on the display screen 11 as shown in Fig. 7(b). The depth information acquisition unit 1442 has a function of acquiring depth information from the relative distance L between the depth measurement point P and the height reference plane R in the remaining area A specified on the captured image displayed on the display screen 11 as shown in Fig. 8(b).

[0033] The volume calculation unit 1443 has a function of calculating the volume of the remaining area A based on the plane information acquired by the plane information acquisition unit 1441 and the depth information acquired by the depth information acquisition unit 1442. The result output unit 1444 has a function of displaying the information and calculation results acquired by the plane information acquisition unit 1441, the depth information acquisition unit 1442, and the volume calculation unit 1443 on the display screen 11, as shown in FIG.

[0034] The above means utilize an AR system provided in the arithmetic processing device 14. The AR system is a system that realizes so-called AR (Augmented Reality) technology, which displays an image in which a real image and digital information are combined in real time on the display screen 11. In this embodiment, ARkit (registered trademark) capable of plane recognition and world tracking is applied to realize the functions of the self-position estimation means 145 and the reference plane generation means 141 among the above means.

[0035] Plane recognition detects a plane in an image captured by the imaging means 12. World tracking estimates the self-position of the pouring amount calculation support device 10 in the virtual space by calculating the position and orientation of the pouring amount calculation support device 10 (imaging means 12) corresponding to the detected plane. Then, the viewpoint of the 3D CG image generated in the virtual space is changed in response to the captured image that changes as the pouring amount calculation support device 10 moves.

[0036] As long as it has similar functions, the AR system does not necessarily have to adopt ARkit (registered trademark); for example, if the OS of the pouring amount calculation support device 10 is Android (registered trademark), it may adopt ARCore (registered trademark).

[0037] The sensor group 17 includes various sensors required for the above basic processing by ARkit (registered trademark), ARCore (registered trademark), etc. Specific examples include an acceleration sensor, a gyro sensor, a geomagnetic sensor (electronic compass), etc., which are required for calculating the position, orientation, moving speed, and distance of the casting amount calculation support device 10. Note that the position information is not limited to that obtained by the geomagnetic sensor and accelerometer, and may be obtained by GPS.

[0038] In addition, since the pouring amount calculation support device 10 obtains depth information from the captured image, the sensor group 17 includes a depth sensor. However, if the imaging means 12 uses a camera incorporating a ToF (Time of Flight) sensor or a LiDAR (Light Detection and Ranging) scanner, it is not necessarily necessary to provide a depth sensor.

[0039] As long as the pouring amount calculation support device 10 has the above functions, any of a notebook PC, a tablet terminal, a smartphone, etc. may be used. In this embodiment, as shown in Figs. 4 to 9, a case where a tablet terminal is used as the pouring amount calculation support device 10 is taken as an example.

[0040] <<<Concrete pour volume calculation support method>>> The procedure for obtaining the volume of the remaining pouring area A using the above-mentioned pouring amount calculation support device 10 and supporting the calculation of the amount of concrete to be poured into the remaining pouring area A will be described with reference to the configuration diagram of the pouring amount calculation support device 10 shown in Figure 2 and the work flow in Figure 3.

[0041] In this embodiment, an example is given in which ARkit (registered trademark) is used as the AR system, and a camera incorporating a LiDAR (Light Detection and Ranging) scanner is used as the imaging means 12, and the distance (depth information) to an object on a captured image is acquired using the LiDAR (Light Detection and Ranging) scanner.

[0042] <Acquisition of captured images and height reference plane> First, the imaging means 12 provided in the pouring volume calculation support device 10 is activated, and the orientation of the pouring volume calculation support device 10 is tilted up, down, left and right so that planes and objects are included in the captured image, as shown in Figure 4(a).

[0043] Then, the arithmetic processing device 14 receives a command from the self-position estimation means 145, recognizes a plane based on the image acquired by the imaging means 12, and creates a virtual space. The virtual space is created based on information related to the position, direction, attitude, etc. of the imaging means 12 (casting amount calculation support device 10) acquired from the sensor group 17, with the current position (position at the time of startup) as the origin.

[0044] When the virtual space is created, the plane recognition operation is started, and an operation screen for prompting the user to input the plane position for setting the height reference plane is displayed on the display screen 11. In this state, if the cast surface of the existing concrete C, which is at the same height as the cast surface of the concrete planned in the remaining pouring area A, is included in the captured image, the pouring amount calculation support device 10 recognizes the cast surface of the existing concrete C as a plane.

[0045] 4(b), when the user operates the position determination button 178, the arithmetic processing device 14 receives a command from the reference plane generating means 141 to generate a plane (hereinafter referred to as a temporary height reference plane R') made of 3D CG based on the height information and position information acquired from the recognized plane (the raised surface of the existing concrete C). When the temporary height reference plane R' is generated, the arithmetic processing device 14 receives a command from the synthesis processing means 142 to superimpose the captured image and the temporary height reference plane R' to generate a synthetic image and display it on the display screen 11.

[0046] The temporary height reference surface R' is generated at approximately the same height position as the cast-up surface of the existing concrete C, but as shown in the upper part of Figure 5, a positional deviation may occur between the temporary height reference surface R' and the cast-up surface of the existing concrete C in the captured image.

[0047] <Height reference plane position correction> Therefore, when the temporary height reference plane R' is displayed on the display screen 11, the calculation processing device 14 receives an instruction from the reference plane correction means 143 and displays an operation screen on the display screen 11 to prompt the user to input correction information regarding the relative position of the temporary height reference plane R'.

[0048] Any operation screen may be used, but in this embodiment, movement buttons 171, 172 (for moving downward and moving upward) that allow the user to input correction information for moving the position of the temporary height reference plane R' in the vertical direction relative to the captured image, and an approval / end button 173 for approving the current height position are displayed on the display screen 11.

[0049] The user visually checks the height position of the height reference plane R relative to the captured image displayed on the display screen 11, and when he / she wishes to move it up or down, he / she requests a position movement by operating the movement buttons 171, 172. For example, in the upper part of Fig. 4, the temporary height reference plane R' is positioned above the planned concrete cast surface in the remaining pouring area A. Therefore, the user operates the downward movement button 171.

[0050] When movement information is input via the downward movement button 171, the arithmetic processing device 14 receives a command from the reference plane correction means 143 and inputs the movement information to the synthesis processing means 142. Then, the arithmetic processing device 14 receives a command from the synthesis processing means 142 and moves the temporary height reference plane R' based on the movement information, and then superimposes this on the captured image to create a synthetic image again, which is displayed on the display screen 11 as shown in the lower part of Fig. 5.

[0051] The user checks the relative position of the temporary height reference plane R' with respect to the captured image, and if the current position is to be approved, operates the approval / end button 173. Then, the calculation processing device 14 receives a command from the reference plane correction means 143, accepts the current temporary height reference plane R' as the height reference plane R that represents the planned finished surface of the concrete in the remaining pouring area A, and stores the position information and attitude information thereof in the reference plane information file 131 of the storage means 13. If correction is not required, the user can simply operate the approval / end button 173 without operating the movement buttons 171 and 172.

[0052] The means for inputting correction information for correcting the relative position between the captured image and the temporary height reference plane R' is not limited to the movement buttons 171 and 172. For example, when the user operates a manual input button 174 as shown in Fig. 5, an input label 175 that allows the movement information to be input numerically may be displayed as shown in Fig. 6(b).

[0053] In this way, the position information and attitude information of the approved temporary height reference surface R after correcting the temporary height reference surface R' in the virtual space is maintained. Also, every time the pouring amount calculation support device 10 moves, the arithmetic processing device 14 receives a command from the self-position estimation means 145, and estimates its own position in the virtual space based on the measurement values ​​measured by the sensor group 17 and the origin information of the virtual space. These utilize AR technology including the world tracking of ARkit (registered trademark).

[0054] Therefore, even if the image captured by the imaging means 12 changes as the user moves the pouring amount calculation support device 10 during the work related to the volume calculation process described below, the viewpoint of the temporary height reference plane R can be changed and displayed on the display screen 11 in response to the change. Also, during the work related to the volume calculation process, it is not necessary to always capture the entire remaining pouring area A with the imaging means 12 as shown in Figures 7 and 8. For example, it is possible to enlarge and capture a portion of the remaining pouring area A, ensuring a high degree of freedom in the work related to the volume calculation.

[0055] The plane recognized from the image captured by the imaging means 12 includes not only horizontal planes with smooth surfaces or horizontal planes with uneven surfaces, but also gently sloping planes, so long as the plane intersects with a vertical plane. For example, when the cast-up surface of the existing concrete C does not form a uniformly smooth surface because it has not yet been leveled, as shown in FIG. 6(a), a representative value such as the median, average, or mode in the height direction is calculated as appropriate, and the horizontal plane located on this representative value is detected. This type of processing is also applicable when the cast-up surface of the existing concrete C is a gently sloping inclined surface.

[0056] In addition, if there is no suitable plane at the same height as the planned concrete cast surface in the remaining pouring area A in the surrounding area including the remaining pouring area A at the time of imaging, a temporary height reference plane R' can be generated by detecting the top surface of the formwork F as shown in the upper part of Figure 5 or the top surface of the reinforcing bar B as shown in Figure 6(b).

[0057] For example, when the reinforcing bar B is detected and a provisional height reference plane R' is generated and displayed on the display screen 11, the user can operate the manual input button 174 described above to input the cover thickness numerically into the input label 175. This allows the height reference plane R to accurately correspond to the planned cast-in surface in the remaining cast-in area A, even if a plane of the same height does not exist in the surrounding area.

[0058] After the height reference plane R is thus acquired, the arithmetic processing device 14 receives a command from the volume acquisition means 144 and starts calculating the volume of the uncast area A.

[0059] <Getting plane information for remaining area> When approval information is input via the approval / end button 173, the calculation processing device 14 receives a command from the planar information acquisition unit 1441 and displays on the display screen 11 an operation screen that prompts the user to input the contour Co as information regarding the planar shape of the remaining area A.

[0060] Any operation screen may be used for inputting the contour Co, but in this embodiment, a case where a contour drawing operation screen is adopted is taken as an example. Specifically, as shown in Fig. 7(a), a target button 176 displaying a target T for drawing the contour Co of a planar shape in the remaining area A, and an approval / end button 173 for inputting end information of the drawing operation are displayed on the display screen 11.

[0061] The user operates the target button 176 on the display screen 11 to display the target T. Next, the user moves the target T to an arbitrarily selected one of the vertices V constituting the contour Co of the planar shape in the left-behind range A on the captured image and taps it. After this, the user moves the target T to the adjacent vertex V in the left-behind direction (clockwise) and repeats the tapping operation as shown in FIG. 7(b). Finally, by tapping the vertex V that was initially tapped, the designation of the contour Co of the planar shape in the left-behind range A on the captured image is completed.

[0062] After completing the contour drawing operation in which the target T is moved along the outer edge of the planar shape in the remaining area A on the captured image and tapped every time the target T reaches a vertex V, the approve / end button 173 is operated. Although Fig. 7(b) illustrates an example in which the contour drawing operation is performed clockwise, the contour drawing operation may be performed in one stroke, and may be performed counterclockwise.

[0063] When the approval / end button 173 is operated and end information of the contour drawing operation is input, the calculation processing device 14 receives a command from the plane information acquisition unit 1441 and projects the contour Co of the planar shape in the left-behind range A, which is specified by the contour drawing operation, onto a virtual plane S as shown in Fig. 7(c). For example, the virtual plane S may be a plane parallel to the height reference plane R, with the position of the vertex V where the target T is first tapped as the origin (0,0) when specifying the contour Co. This makes it possible to acquire the shape of the left-behind range A seen in a planar view as shown in Fig. 7(d), and this is acquired as the plane information of the left-behind range A.

[0064] The plane information thus obtained is stored in the plane information file 132 of the storage means 13. The plane information includes at least the position information of each of the multiple vertices V on the contour Co. The work of projecting the contour Co onto the virtual plane S and obtaining the position information of each of the vertices V is performed by utilizing the AR technology described above.

[0065] <Getting depth information of remaining area> When the work of acquiring planar information is completed, as shown in Figure 8 (a), the calculation processing device 14 receives a command from the depth information acquisition unit 1442 and displays an operation screen on the display screen 11 prompting the user to input a depth measurement point P to be used for measuring the pouring depth in the remaining pouring area A.

[0066] The operation screen for inputting the depth measurement point P displays, on the display screen 11, a target button 176 that displays a target T for identifying the position of the depth measurement point P on the captured image, and an approval / end button 173 for inputting setting end information for the depth measurement point P. In addition, a manual input button 174 for manually inputting depth information is displayed on the display screen 11.

[0067] As shown in the upper part of Figure 8 (a), the user operates the target button 176 on the display screen 11 to display the target T, and then moves and taps the target T to a position on the captured image that corresponds to the bottom surface of the poured concrete, avoiding the rebar B in the remaining pouring area A.

[0068] Then, the arithmetic processing device 14 receives a command from the depth information acquisition unit 1442, detects the tapped position as a depth measurement point P, and calculates the relative distance L between the depth measurement point P and the height reference plane R, as shown in FIG. 8(b). The relative distance L is the difference between the distance (depth information) between the depth measurement point P and the imaging means 12, and the distance (depth information) between the height reference plane R and the imaging means 12 stored in the reference plane information file 131 of the storage means 13. The depth information is acquired by a LiDAR scanner incorporated in the imaging means 12.

[0069] When the relative distance L is calculated, as shown in the lower part of Fig. 8(a), a numerical value confirmation label 177 indicating the calculation result is output on the display screen 11. The user checks the setting position of the depth measurement point P and the depth information, and if the depth information is approved, operates the target button 176 to prepare for setting the second depth measurement point P.

[0070] The approved depth information is stored in the depth information file 133 of the storage means 13 as depth information in the remaining area A together with the position information of the depth measurement point P. The position information of the depth measurement point P is stored in order to display the position of the depth measurement point P together with the depth information on the display screen 11, as shown in Fig. 9. Therefore, if such a display is not performed, it does not necessarily have to be stored.

[0071] On the other hand, if the user wishes to correct the depth information, an input label 175 is displayed that allows the user to input the depth information numerically by tapping on an already installed depth measurement point P. This allows the user to input the actual measured value as the depth information even if the position where the user wishes to set the depth measurement point P is in the captured image and the depth cannot be measured due to, for example, a shadow or narrow spacing between rebars.

[0072] Although it is possible to set only one depth measurement point P and end the process, it is recommended to set multiple points as shown in FIG. 8(c). The number of points is not limited, but it is recommended to set the number of points to about 20, for example. After setting the desired number of depth measurement points P and obtaining depth information, the user operates the approval / end button 173. The position information and depth information of the set depth measurement points P are both stored in the depth information file 133 of the storage means 13.

[0073] <Calculating the volume of the remaining area> When the work of acquiring the depth information is completed, the calculation processing device 14 receives a command from the volume calculation unit 1443 and calculates the volume of the remaining area A based on the plane information stored in the plane information file 132 of the memory means 13 and the depth information stored in the depth information file 133.

[0074] To calculate the volume, first, the area and pouring depth of the remaining pouring range A are calculated. The area is calculated based on the position information of each of the multiple vertices V on the contour Co of the planar shape acquired as planar information, and the distance between the vertices V is also calculated. As described above, when specifying the contour Co, the position information of each vertex V is obtained as the relative coordinates from the origin (0,0) because the position of the vertex V where the target T was first tapped is set as the origin (0,0). This allows the interval distance between the vertices V to be obtained. In addition, the pouring depth is calculated as the average value of the relative distance L between each of the multiple depth measurement points P acquired as the depth information and the height reference plane R. Note that the pouring depth is not necessarily limited to the average value, and a representative value such as the median or the most frequent value may be used.

[0075] The volume of the remaining area A is calculated based on the area of ​​the shape in plan view and the pouring depth of the remaining area A. All of the above calculation results are stored in the volume calculation file 134 of the storage means 13. In addition, the arithmetic processing device 14 receives a command from the result output unit 1444 and displays the volume of the remaining area A on the display screen 11 as shown in FIG.

[0076] In Fig. 9, not only the volume of the remaining pouring area A, but also an image simulating the shape of the remaining pouring area A in a plan view, the distance between the vertices V, the positions of the depth measurement points P, the depth information for each depth measurement point P, the area, and the pouring depth are displayed on the display screen 11. This allows the user to use the volume displayed on the display screen 11 as support information and, taking this into consideration, determine the amount of concrete required to pour into the remaining pouring area A.

[0077] According to the above method, the contour Co of the planar shape of the left-behind area A is specified on the captured image of the surrounding area including the left-behind area A displayed on the display screen 11, and the bottom position of the left-behind area A is specified using a depth measurement point P, and the relative distance L between the depth measurement point P and the height reference plane R is set.

[0078] This enables the user to virtually experience surveying the remaining area A, and easily obtain the volume of the remaining area A by themselves, without the help of other workers, while reducing the amount of downtime that concrete pouring work currently being carried out at the construction site requires compared to the time previously required.

[0079] In addition, the work of specifying the outline Co of the planar shape in the remaining area A and the work of specifying the depth measurement points P are simple, and it does not take a lot of time to obtain the planar information and the depth information. Therefore, by repeating these works as necessary, or increasing the number of specified depth measurement points P, it is possible to easily improve the accuracy of the volume calculation.

[0080] As a result, the pouring amount required for pouring the remaining area A, calculated as support information using the volume of the remaining area A obtained by the pouring amount calculation support device 10, can be highly reliable to the extent that the margin can be estimated low when ordering concrete. This contributes to reducing the amount of leftover concrete generated after the completion of construction, and allows consideration of the impact on the environment and a significant reduction in disposal costs, etc.

[0081] The concrete pouring amount calculation support device 10 of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0082] For example, in this embodiment, when obtaining the volume of the remaining area A, the planar information is obtained and then the depth information is obtained, but this is not limited to this, and the depth information may be obtained first.

[0083] 2 and 10, the concrete pouring amount calculation support device 10 may include a communication means 16 for transmitting and receiving data to and from each terminal via a communication network 40. The communication network 40 may be constructed using the Internet, a dedicated communication line, or the like.

[0084] As a result, even if other workers are located away from the construction office or site, they can obtain and view the data stored in the memory means 13 of the concrete pouring amount calculation support device 10 by using the communication means 16 via the communication network 40 by carrying a wireless communication-enabled terminal 30 such as a personal computer, notebook PC, tablet terminal, or smartphone.

[0085] Furthermore, the concrete pouring amount calculation support device 10 may constitute a concrete pouring amount calculation support system 100 together with a management server 20 and other terminals 30 capable of wireless communication. In this case, the management server 20 also includes a communication unit 21 that transmits and receives data to and from each terminal via a communication network 40, as well as a calculation processing device 22 and a storage unit 23. The management server 20 is a computer system or a cloud server, the calculation processing device 22 includes a CPU, a GPU, a ROM, a RAM, a hardware interface, etc., and the storage unit 23 appropriately stores the data acquired via the communication unit 21.

[0086] Then, the reference surface information file 131, the plane information file 132, the depth information file 133, and the volume calculation file 134 are stored in the memory unit 23 of the management server 20 instead of the memory means 13 of the pouring amount calculation support device 10. In this way, other workers who have terminals 30 capable of wireless communication can obtain and view the information stored in the memory means 13 of the management server 20 at all times in real time. [Explanation of symbols]

[0087] 10. Concrete volume calculation support device 11 Display screen 12 Imaging means (including depth sensor) 13 Memory means 131 Reference surface information file 132 Plane Information File 133 Depth Information File 134 Volume calculation file 14 Processing unit 141 Reference plane generation means 142 Synthesis Processing Means 143 Reference plane correction means 144 Volume Acquisition Method 1441 Plane information acquisition unit 1442 Depth information acquisition unit 1443 Volume Calculation Department 1444 Result output section 145 Self-position estimation means 15 Operating means 16 Means of communication 17 Sensor Group 20 Management Server 21 Communications Department 22 Processing unit 23 Memory section 30 Wireless communication capable terminals 40 Communication Network 100 Concrete pour volume calculation support system 171 Movement button (downward movement) 172 Movement button (upward movement) 173 Accept / Exit button 174 Manual input button 175 Input Label 176 Target Button 177 Number confirmation label F-frame B Reinforcement bar A. Remaining shot range C Existing concrete Co Contour V Vertex R Height Reference Plane R' Temporary height reference plane T Target P Depth measurement point S Virtual plane

Claims

1. a self-position estimation means for creating a virtual space having an origin at a position of the imaging means at the time of starting the imaging means, based on an image captured by the imaging means and measurement results from a sensor group that measures the position, direction and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image, and estimating a self-position within the virtual space when the imaging means moves; a reference plane generating means for generating a virtual height reference plane formed of a three-dimensional CG image at a height position in the virtual space corresponding to a predetermined position on the captured image; a reference plane correction means for correcting the position of the provisional height reference plane based on numerically input correction information to obtain a height reference plane; A volume acquisition means for acquiring the volume of the remaining concrete area by treating the height reference surface as a concrete casting surface to be planned in the remaining concrete area; A concrete pouring amount calculation support device comprising: The volume acquisition means includes: a plane information acquisition unit that acquires a contour of a planar shape of the uncast range specified on the captured image as plane information of the uncast range; A depth information acquisition unit that calculates a relative distance in a depth direction between a depth measurement point of the remaining area specified on the captured image and the height reference plane to be synthesized into the captured image, and acquires depth information of the remaining area; a volume calculation unit that calculates a volume of the remaining area based on the plane information and the depth information; A concrete pouring amount calculation support device comprising:

2. The concrete pouring amount calculation support device according to claim 1, The temporary height reference surface is a top surface of a reinforcing bar arbitrarily determined on the captured image, A concrete pouring amount calculation support device, characterized in that the numerically input correction information is cover thickness.

3. A method for supporting calculation of a concrete pouring amount for supporting calculation of a concrete amount to be poured in a remaining pouring area, comprising: a reference plane generation step of generating a virtual height reference plane consisting of a three-dimensional CG image at a height position corresponding to a predetermined position on the captured image in a virtual space having an origin at a position at the time of starting up the imaging means, the virtual height reference plane being created based on an image acquired by the imaging means and measurement results from a sensor group that measures the position, direction and attitude of the imaging means and a depth sensor that detects the distance to an object in the captured image; a reference plane correction step of correcting the position of the provisional height reference plane based on numerically input correction information to obtain a height reference plane; and a volume acquisition process for treating the height reference surface as a concrete rise surface planned in the remaining concrete pouring area and acquiring a volume of the remaining concrete pouring area. The volume acquisition step includes: a plane information acquiring step of acquiring a contour of a planar shape of the uncast range specified on the captured image as plane information of the uncast range; a depth information acquisition step of calculating a relative distance in a depth direction between a depth measurement point of the remaining area specified on the captured image and the height reference plane to be synthesized into the captured image, and acquiring depth information of the remaining area; a volume calculation step of calculating a volume of the remaining area based on the plane information and the depth information; A method for supporting calculation of concrete pouring amount, comprising:

4. The method for supporting calculation of concrete pouring amount according to claim 3, The temporary height reference surface is a top surface of a reinforcing bar arbitrarily determined on the captured image, A method for supporting calculation of concrete pouring amount, characterized in that the numerically input correction information is cover thickness.

5. A program for causing a computer to execute each step of the concrete pouring amount calculation support method according to claim 3 or 4.

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